CN106374554A - Method and device for monitoring at least one predetermined unit of battery - Google Patents
Method and device for monitoring at least one predetermined unit of battery Download PDFInfo
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- CN106374554A CN106374554A CN201610781711.6A CN201610781711A CN106374554A CN 106374554 A CN106374554 A CN 106374554A CN 201610781711 A CN201610781711 A CN 201610781711A CN 106374554 A CN106374554 A CN 106374554A
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000012544 monitoring process Methods 0.000 title claims abstract description 9
- 238000004458 analytical method Methods 0.000 claims abstract description 30
- 230000005611 electricity Effects 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 6
- 238000007599 discharging Methods 0.000 abstract description 3
- 238000003860 storage Methods 0.000 description 18
- 210000004027 cell Anatomy 0.000 description 11
- 230000032683 aging Effects 0.000 description 10
- 230000003313 weakening effect Effects 0.000 description 7
- 230000010354 integration Effects 0.000 description 3
- 230000008676 import Effects 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000010923 batch production Methods 0.000 description 1
- 210000001787 dendrite Anatomy 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
- H02J7/0014—Circuits for equalisation of charge between batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/18—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
- B60L58/22—Balancing the charge of battery modules
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/367—Software therefor, e.g. for battery testing using modelling or look-up tables
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
- G01R31/3835—Arrangements for monitoring battery or accumulator variables, e.g. SoC involving only voltage measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
- G01R31/3842—Arrangements for monitoring battery or accumulator variables, e.g. SoC combining voltage and current measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/396—Acquisition or processing of data for testing or for monitoring individual cells or groups of cells within a battery
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/48—Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte
- H01M10/482—Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte for several batteries or cells simultaneously or sequentially
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/005—Detection of state of health [SOH]
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/4285—Testing apparatus
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M2220/00—Batteries for particular applications
- H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Electrochemistry (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Health & Medical Sciences (AREA)
- Secondary Cells (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to a method for monitoring at least one predetermined battery unit (1,2,3,4) of a battery which has a plurality of battery units (1,2,3,4) which are connected in series or can be connected in series. The method of the invention comprises steps of putting the battery (10) in a first state (Z1) in a first phase, wherein the battery unit has a predetermined charging state; performing discharging on a battery (10) which is in a first state in a second phase following the first phase; charging the battery in a third phase following the second phase until at least one battery unit of the battery has a time point of a predetermined charging state; and at least temporarily detecting voltage provided by at least on predetermined battery unit and determining to identify state information of at least one predetermined battery unit according to analysis of detected voltage.
Description
Technical field
The present invention relates to there is the battery of the battery unit of multiple coupled in series or energy coupled in series for monitoring at least
The method of the state of one battery unit and corresponding equipment.
Background technology
It is likely to occur fault in battery unit., for instance it can be possible that partial short-circuit, described short circuit is for example by electricity for these faults
Dendrite in pool unit and/or dirt, the aging, fault in production of battery unit or mechanism cause.Such short circuit
Can result in and self-discharge current occurs in battery unit.Therefore, described fault is in the battery with such battery unit
It is security risk in charged state, because this is it may happen that the local heating of battery unit.
The current battery system being typically used in electric motor car application includes the electricity that has multiple coupled in series or can couple
The battery of pool unit, when battery charges and/or discharges, same electric current flows through described battery unit.Such battery system
The battery unit of minimum capacity and maximum internal resistance by having all battery units for the electric energy and power that can obtain determines.Cause
This advantageously loads the battery unit with capacity as similar as possible and internal resistance in such battery system.Known
It is that the aging capacity making battery unit due to battery unit typically reduces and so that its internal resistance is typically raised.Due to old
The self-discharge current changed and flow in the battery unit of battery system mentioned above, the electric discharge of battery unit different rates ground.
This is leading to the different charged state of battery unit for a long time.It is thus desirable to, termly execute in such battery system
The charged state of battery unit between charged state equilibrium.This process is commonly known as " trim ".
A kind of battery with multiple battery units known in document cn 10231546 b.Here, the state of battery by
Battery management system is monitoring.Battery management system is configured to, and imports and controls the difference in the battery unit of battery and fill
Charged state between electricity condition executes in a balanced way.
By a kind of known battery with multiple battery units of document us 2013/0018606.Here, execution is in battery
The different charged states of battery unit between charged state equilibrium.Additionally, being defined below frequency for each battery unit, deposit
Storage the energy in respective battery unit during multiple charged states equalize with this frequency shift.By for each battery list
Unit determine the analysis of frequency and determine, whether corresponding battery unit is in malfunction.Due to respective battery unit
Internal short-circuit is likely to occur such malfunction.
Content of the invention
According to the present invention, there is provided a kind of battery unit for monitoring with multiple coupled in series or energy coupled in series
The method of the state of the predetermined battery unit of at least one of battery.The method according to the invention includes first, second,
3rd, the 4th and the 5th step.First step includes: during in the first stage, battery is placed in first state, in first state
In, battery unit is respectively provided with predefined charged state.Second stage includes: the second stage after following the first stage
Period, the battery being in first state is discharged.Third step includes: the phase III after following second stage
Period, battery is charged, until at least one battery unit of battery has the time point of predefined charged state.The
Four steps includes: after the electric discharge at least being occurred during second stage terminates and at least occurred in the phase III fills
Electricity detects the voltage being provided by least one predetermined battery unit after terminating.5th step comprises determining that for root
Identify the information of the state of at least one predetermined battery unit according to the analysis of the voltage being detected.Dependent claims
The advantageous modification of the present invention is shown.
In the method according to the invention, the analysis of the voltage being detected is included occurring at least during second stage
Electric discharge terminate after the analysis of voltage that detected and being examined after the charging occurring at least during the phase III is terminated
The analysis of the voltage surveyed.
To be considered in the method according to the invention, the charged state of battery unit can have can 0% with
Value between 100% or between 0 and 1.Here, the battery unit with the charged state of the value with 0% or 0 is understood to
The battery unit of electric discharge completely.Additionally, the battery unit with the charged state of the value with 100% or 1 is understood to
Full charge of battery unit.
In the method according to the invention, predefined charged state for example can have 50% or 80% or 100%
Value.
In the above-mentioned methods, at least one predetermined battery unit preferably includes all battery units of battery.
In the above-mentioned methods, before starting with second stage after terminating in the first stage, multiple electric discharges can occur successively
And charging process.Here, the charging to battery can be realized during at least one charging process respectively, make battery by charging
At least one battery unit be placed in predefined charged state as during the phase III.Therefore in said method
In, second stage and phase III can terminate in the first stage after repeatedly repeatedly occur successively.Additionally, at least one
Predefined pause stage can be provided between discharge process and charging process followed by.In discharge process or
Can also realize carrying out partial discharge to battery in the charging occurring during two-stage.Additionally, in charging process or the 3rd
Can realize carrying out part charging to battery in the charging occurring during stage.When battery uses in vehicle, can be in car
Carry out such partial discharge of battery during using and such part charges.Applicability for said method comes
Say, such partial discharge of battery and the charging of such part are harmless.To be considered here, follow charging closely and terminate
All the time the determination of information for being identified to the state of at least one predetermined battery unit or extremely can be executed afterwards
The identification of the state of a few predetermined battery unit, in this charging, at least one battery unit of battery is placed in
Predefined charged state.
In the above-mentioned methods, it preferably is carried out for being identified to the state of at least one predetermined battery unit
First analytical procedure and the second analytical procedure for being identified to the state of at least one predetermined battery unit.Excellent
Selection of land, the first analytical procedure includes: to true in advance by least one after at least during second stage, the electric discharge of generation terminates
The voltage that fixed battery unit provides is detected and the electric discharge occurring at least during second stage is terminated detect afterwards
Voltage is analyzed.Preferably, the second analytical procedure includes: to by extremely after at least in the phase III, the charging of generation terminates
The voltage that a few predetermined battery unit provides is detected and to the charging knot occurring at least during the phase III
After bundle, the voltage of detection is analyzed.Preferably, the first analytical procedure executes and/or second point after second stage terminates
Analysis step executes after the phase III terminates.
In the above-mentioned methods so that the time point that performed electric discharge terminates during second stage preferably can with make
The single or multiple battery units of battery are especially while the other time point reaching other predefined charged state is consistent.
In this other time point, remaining battery unit of battery is respectively provided with bigger with respect to other predefined charged state
Charged state.Other predefined charged state for example can have such as 10% value.In the above-mentioned methods so that
During three stages, the time point of performed end of charging preferably can with the single or multiple battery units making battery especially
The time point simultaneously reaching predefined charged state is consistent.In this time point, remaining battery unit of battery is respectively provided with
The charged state less with respect to predefined charged state.
In the above-mentioned methods, it preferably is carried out the 6th step.6th step includes: identifies at least one predetermined battery
Each battery unit to be checked of unit, described battery unit to be checked follows performed charging during the phase III closely
There is after end the charged state less with respect to predefined charged state.Here, at least one predetermined battery
The identification of each battery unit to be checked of unit is detected after terminating by the charging occurring during the phase III
The analysis of voltage is realizing.
In the above-mentioned methods, period is first positioned in predefined charging shape to all battery units of battery in the first stage
State.After during second stage, performed electric discharge terminates, the battery unit of battery provides different voltages and therefore
There are different charged states.Here, the battery unit of function weakening of battery and the proemial battery unit of battery
Less voltage is all provided compared with the battery unit good with the function of battery.Although produce determining that ground or aging decision ground have
Little capacity but do not have or have considerably less self-discharge current battery unit be referred to as function weakening battery unit.Tool
The battery unit having high self-discharge current is referred to as proemial battery unit.There is high capacity and do not have or have
The battery unit having considerably less self-discharge current is referred to as the good battery unit of function.Therefore held during second stage
After the electric discharge of row terminates, the battery unit of function weakening of battery and proemial battery unit are good with the function of battery
Good battery unit is compared all has less charged state.This preferably can by terminate to execute afterwards in second stage
One analytical procedure is identifying.However, still cannot distinguish between the battery unit of function weakening after second stage terminates and having potential
Dangerous battery unit.When in the method for as described before, second stage and phase III repeatedly repeatedly occur successively, excellent
Choosing can execute the first analytical procedure after each second stage terminates.In other words, preferably start it in each phase III
Front execution the first analytical procedure.
After during the phase III, performed electric discharge terminates, the electricity of the good battery unit of function and function weakening
Pool unit all has predefined charged state, and proemial battery unit is respectively provided with and fills with respect to predefined
The less charged state of electricity condition.Reason is, by the performed all batteries discharging from battery during second stage
Unit takes out same first quantity of electric charge respectively.Here, must be by the quantity of electric charge not the having to battery of approximately equal to first quantity of electric charge
There is or has the battery unit conveying of considerably less self-discharge current, so that they are respectively provided with predefined charged state.?
In method as discussed above, this practical situation can be by the choosing of the performed time point terminating that charges during the phase III
Select and be fully utilized.It is therefore preferable that selecting this time point as follows, that is, pass through performed charging during the phase III
The quantity of electric charge of approximately equal to first quantity of electric charge is conveyed to all battery units of battery.It means that during the phase III
After performed charging terminates, proemial battery unit can not have predefined charged state respectively.Reason exists
In, the quantity of electric charge apparently higher than first quantity of electric charge must be conveyed to proemial battery unit during the phase III,
So that they are respectively provided with predefined charged state.Thus, it is possible to compensate high due to proemial battery unit
Self-discharge current and the charge loss that produces.In other words, on time point mentioned above, only proemial battery list
Unit is respectively provided with the charged state less with respect to predefined charged state.In other words, in method as discussed above, battery
Each proemial battery unit preferably can be recognized by the second analytical procedure and be classified as to be checked
Battery unit.
In method as discussed above, it preferably is carried out the 7th step.7th step includes: identifies that at least one predefines
Battery unit each battery unit in addition to be checked, each battery unit in addition to be checked described follows closely in second-order
During section, performed electric discharge has the charged state less than charged state threshold value after terminating, and not battery to be checked
Unit.Here, the identification of each other battery unit to be checked of at least one predetermined battery unit is by right
The analysis of the voltage being detected is realizing.In other words, each at least one predetermined battery unit is following second closely
During stage performed electric discharge terminate after have less than charged state threshold value charged state and particularly by second point
The battery unit that analysis step is not classified as proemial battery unit preferably can be identified as the battery that function weakens
Unit.The battery unit that the function of each so identification weakens can be following battery unit, and its capacity is due to higher than average
The height of level is aging to be little.
After during second stage, performed electric discharge terminates, the good battery unit of the function of battery has and compares battery
The battery unit that weakens of function and the bigger charged state of proemial battery unit.In inclusion the 7th mentioned above
In the method for step, this practical situation preferably can be by being fully utilized to the appropriately selected of charged state threshold value.Because root
Can recognize that all proemial battery unit of battery according to the 6th step, thus according to the 7th step can also very and
Early identification battery functional weakening battery unit.In other words, in the method for inclusion the 7th step mentioned above, electricity
The battery unit that each function in pond weakens preferably can be recognized and quilt by the first analytical procedure and the second analytical procedure
It is categorized as other battery unit to be checked.
It is advantageously possible to fairly rapid identify each proemial electricity of battery in method as discussed above
Pool unit and/or the battery unit of each function weakening.Thus, it is possible to import the safety measure of correlation in good time.
It is further advantageous that in order to identify each proemial battery unit and/or every in method as discussed above
The battery unit that individual function weakens, except generally having already present survey in the battery system of battery as above in current
It is not necessary to other technical tool, such as hardware beyond amount equipment.Identification mentioned above only needs additional software function.
In method as discussed above, it preferably is carried out the 8th and the 9th step.8th step includes: at least in second stage
In the charging process in the discharge process that period is occurred and at least being occurred during the phase III, detection flows through battery
Electric current.9th step includes: true in advance according to determining at least one to the voltage being detected and the analysis of the electric current being detected
The capacity of fixed battery unit and/or self-discharge current.
In method as discussed above, it preferably is carried out the tenth step.Tenth step includes: holds after the phase III terminates
At least one charged state equilibrium between the charged state of battery unit for the row.
It can be stated that the equilibrium of at least one charged state is passive charged state equilibrium respectively.In each passive filling
In electricity condition equilibrium, each of battery is respectively provided with the electricity of the charged state of the minimum state of charge of battery unit more than battery
Pool unit is placed in minimum state of charge by controlled electric discharge respectively.Here, each controlled electric discharge respectively via
Preferably there is the resistance of little resistance tolerance to realize, this resistance is assigned to respective battery unit.Here, also via distributing to
The resistance of each battery unit to be discharged takes out corresponding electric flux from each battery unit to be discharged and is converted
Become heat.
In method as discussed above, it preferably is carried out the 11st and the 12nd and/or the 13rd step.11st step bag
Include: when executing the equilibrium of at least one charged state, detection is with regard to the behavior of at least one predetermined battery unit of battery
Other information.
It can be stated that the other information with regard at least one predetermined battery unit being detected has including such as
The first information of each frequency lower, is stored in energy in predetermined battery unit at least one charged state equalizing stage
Between with this frequency shift.
It can be stated that the other information with regard at least one predetermined battery unit being detected has including such as
Second information of each voltage lower, this voltage is come by predetermined battery unit during the equilibrium of at least one charged state
There is provided.
In addition it can be stated that the packet with regard at least one predetermined battery unit being detected is as follows containing including
Each energy or the 3rd information of the quantity of electric charge, this energy or the quantity of electric charge are during the equilibrium of at least one charged state to predetermined
Battery unit conveying or from its taking-up.
At least one charged state equilibrium be respectively passive charged state in a balanced way in the case of, the 3rd information include as
Each energy lower or the quantity of electric charge, this energy or the quantity of electric charge are during the equilibrium of at least one charged state from predetermined battery list
Take out in unit.Here, preferably determining what each took out according to the performed integration within the corresponding time period of following electric current
Energy or the quantity of electric charge, this electric current flows through during the equilibrium of at least one charged state and is assigned to predetermined battery accordingly
The resistance of unit.In this case, the 3rd information flows through distribution during being preferably also included within the equilibrium of at least one charged state
Each electric current to the resistance of predetermined battery unit.
12nd step includes: according to the other letter being detected with regard at least one predetermined battery unit
The analysis of breath, in particular according to the analysis to the first information, identify that each is also referred to as will examining of proemial battery unit
The battery unit tested and/or each be also referred to as function weaken battery unit other battery unit to be checked.For example
At least one charged state equilibrium be respectively passive charged state in a balanced way in the case of, with other predetermined battery
Each predetermined battery unit that unit compares the seldom reduction of its charged state is preferably identified as proemial electricity
Pool unit and be classified as battery unit to be checked.
13rd step includes: according to the other letter being detected with regard at least one predetermined battery unit
Breath, in particular according to second and/or the 3rd information, determine capacity and/or the self discharge of at least one predetermined battery unit
Electric current.
In the method for above-mentioned inclusion the 11st step, preferably basis is carried by least one predetermined battery unit
For and detected voltage, the electric current being detected and detected other with regard at least one predetermined battery unit
The analysis of information, determines capacity and/or the self-discharge current of at least one predetermined battery unit.
In method as discussed above, it preferably is carried out the 14th and/or the 15th step.Tenth four steps includes: when every
When the self-discharge current of the battery unit that its self-discharge current individual is determined exceedes current threshold, this battery unit is identified respectively
For being in the battery unit of critical state.It is in also referred to as dangerous battery unit below the battery unit of critical state.The
15 steps include: when the capacity of the battery unit that each its capacity is determined is respectively lower than capacity threshold, by this battery list
Unit is respectively identified as being in the battery unit of undesirable state.Below the battery unit being in undesirable state it is higher than also referred to as
The strongly aging battery unit of average degree.In this way it is possible to each dangerous battery unit of identification battery and/or every
The individual battery unit strongly aging higher than average degree.Here, battery can be the battery with battery of current batch production
A part for the battery system of the link of unit, in this battery system, can prevent such as institute above by turning off battery
The continuing to run with of the battery unit being identified stated.Additionally, battery can be a part for novel cell system, in this novel electric
In cell system, can realize connecting and/or bridge the single battery unit of battery or single battery list by electronic circuit
Element module.The continuation fortune of such novel cell system can be realized with the good battery unit of the function of the minimizing quantity of battery
OK, but the battery unit of the danger of battery be not involved in wherein and/or also not existing due to battery strong higher than average degree
The restriction that aging battery unit causes.To each dangerous battery unit and/or each be higher than average degree strongly aging
The troubleshooting of battery unit for example can be by changing corresponding battery unit or the battery unit with respective battery unit
Module and/or to be realized in safe condition by being transformed into respective battery unit or respective battery modules.Here, being transformed into peace
Can be realized by discharging to respective battery unit or respective battery modules and/or being forbidden recharging in total state.
In the methods described above, the battery unit that each its self-discharge current is determined preferably is identified as first respectively
Battery unit to be checked.In the methods described above, the battery unit that each its capacity is determined preferably is known first respectively
Battery unit to be checked that Wei be not other.By this way, only for the battery unit execution self-discharge current reducing quantity
And/or capacity determination so that can quickly identify each dangerous battery unit and/or each be higher than average degree
Strongly aging battery unit.
Another aspect of the present invention be related to a kind of at least one the predetermined battery unit to stacks of cells
Monitoring state equipment, this stacks of cells is made up of at least one battery unit of battery, and this battery has multiple
Coupled in series or the battery unit of energy coupled in series.This equipment here is configured to identification and there is the first stage, in the first rank
During section, battery is placed in first state, and the battery unit of battery is respectively provided with predefined charged state in a first state.
This equipment is also configured to identify to exist follows second stage after the first stage, to being in first during second stage
Battery in state is discharged.This equipment is also configured to identify there is the phase III followed after second stage,
During phase III, battery is charged, until battery at least one battery unit have predefined charged state when
Between point.This equipment is also configured to, and determines at least one the predetermined electricity with regard to stacks of cells according to said method
The information of the state of pool unit.
Preferably, this equipment is also configured to identify at least one the charging shape between the charged state of battery unit
State executes in a balanced way.
Preferably, the said equipment is also configured to execute above-mentioned method.
It can be stated that stacks of cells includes all battery units of battery.Here, the said equipment may be preferred that use
Central controller in above-mentioned battery.It is alternative in this place it can be stated that battery includes multiple battery modules, these battery modules divide
Not there is at least one battery unit of battery, and stacks of cells by battery battery cell module at least one battery
Unit forms.Here, described equipment preferably could be for the battery with least one battery unit of stacks of cells
The central controller of unit module.
Brief description
Below with reference to the accompanying drawings embodiments of the invention are described in detail.For identical part and parameter respectively using identical
Reference.In the accompanying drawings:
Fig. 1 illustrates the schematic diagram of multiple states of the same battery of vehicle.
Specific embodiment
Fig. 1 illustrates first state z1 of same battery 10, the second state z2, third state z3 and the 4th state of vehicle
z4.Battery 10 includes the first battery unit 1, the second battery unit 2, the 3rd battery unit 3 and the 4th battery unit 4.Four electricity
Pool unit 1,2,3,4 coupled in series.
Below each charged state is represented with lji, be in four states z1, z2, the battery 10 in state zj in z3, z4
Four battery units 1,2,3,4 in battery unit i there is this charged state.To be considered here, battery unit
Charged state can be between 0% and 100% or between 0 and 1, wherein when respective battery unit discharges completely, charging shape
State is 0% in other words 0, and when respective battery unit is fully charged, and charged state is 100% in other words 1.Below, also with
Qji represents each quantity of electric charge, and this quantity of electric charge is stored in and is in four states z1, z2, battery 10 in state zj in z3, z4
In battery unit i in four battery units 1,2,3,4.Here, j is natural number, it has value for first state z1
1, there is for the second state z2 value 2, there is for the third state z3 value 3 and have for the 4th state z4
There is value 4.Additionally, i is natural number, it has value 1 for the first battery unit 1, has for the second battery unit 2
Value 2, has value 3 for the 3rd battery unit 3 and has value 4 for the 4th battery unit 4.In FIG, for
Be in four states z1, z2, the battery list for the battery 10 in state zj in z3, z4, in four battery units 1,2,3,4
The size of charged state lji of first i by the gross area of the furnished region of respective battery unit i and respective battery unit it
Ratio carrys out symbolic expression.
Each battery unit 3,4 with high self-discharge current of detailed description battery 10 will in combination with Fig. 1
According to the first embodiment of the invention the identification to execute.Below, battery 10 be respectively provided with the of high self-discharge current
Three and the 4th battery unit 3,4 also referred to as proemial battery unit 3,4.
According to first embodiment, period is placed in first state z1, in a first state, four to battery 10 in the first stage
Individual battery unit 1,2,3,4 is respectively provided with such as 100% predefined charged state.It means that being in first state z1
In battery 10 each battery unit 1,2,3,4 have with predefined charged state identical charged state l11, l12,
l13、l14.This be attached to always first on charger by vehicle until at least one battery unit 1,2 of battery 10 have pre-
The charged state of definition is realizing.Followed by, charging shape between the charged state of four battery units 1,2,3,4 for the execution
State equalizes.And then, always again electricity is rushed to battery 10, had up to all four battery unit 1,2,3,4 predefined
Charged state.This is again attached to charger by vehicle and realizes.Predefined charged state can also have respectively greater than
0% and less than 100% other values.Here, being directed to the merely exemplary selective value of predefined charged state 100%.
Below, it is stored in the battery unit i in four battery units 1,2,3,4 of the battery 10 being in first state z1
In each quantity of electric charge q1i be also referred to as respective battery unit i capacity q1i.
During first embodiment, the second stage after following the first stage closely, the electric discharge of execution battery 10.This
To be realized by making vehicle travel every now and then within the whole persistent period of second stage.For example, second stage is continued above two
My god.During second stage, battery 10 is only discharged and is not charged.Here, battery 10 is located at the end of second stage
In the second state z2, in the second state, at least one battery unit 4 of battery 10 has other predefined such as 10%
Charged state.Other predefined charged state can also have respectively greater than 0% and be less than predefined charged state
Other values.According to first embodiment, to each by the battery 10 being in the second charged state z2 four battery units
1st, the voltage that the battery unit i in 2,3,4 provides is detected.The voltage being detected by these determines respectively and is in the second state
Charged state l21, l22 of four battery units 1,2,3,4 of the battery 10 in z2, l23, l24 and they mutually compare.
Additionally, flow through discharge current i2 (t) of battery 10 during second stage according to time t detection.Below, battery 10 by producing
Or aging determine be respectively provided with little capacity q12 but there is no or only have the second battery list of considerably less self-discharge current
Unit 2 battery unit 2 that also referred to as function weakens.In addition below, battery 10 be respectively provided with high capacity q11 and do not have or
There is the first battery unit 1 also referred to as good battery unit 1 of function of considerably less self-discharge current.In second stage knot
Shu Shi, not only battery 10 function weaken battery unit 2 and also the proemial battery unit 3,4 of battery 10 compares battery
The good battery unit 1 of 10 function more strongly discharges.As seen from Figure 1, the second battery unit 2, the 3rd battery unit 3 and
4th battery unit 4 more strongly discharges than the first battery unit 1 respectively.Therefore, at the end of second stage only it was determined that
First battery unit 1 has more preferable health status compared with each other battery unit 2,3,4 of battery 10.
According to first embodiment, during the phase III after following second stage closely, the charging of execution battery 10 is straight
One or more of battery unit 1,2,3,4 to battery 10 reaches the earliest time point of predefined charged state simultaneously.
At the end of the phase III, battery 10 is located at third state z3.According to first embodiment, to each by being in third state z3
In four battery units 1,2,3,4 of battery 10 in battery unit i provide voltage detected.Detected by these
Voltage determine respectively the battery 10 being in third state z3 charged state l31, l32 of four battery units 1,2,3,4,
L33, l34 and they mutually compare.Additionally, flow through the charging electricity of battery 10 during the phase III according to time t detection
Stream i3 (t).It is achieved that the proemial battery unit 3,4 of battery 10 is different from electricity at the end of the phase III
The other battery unit 1,2 in pond 10.Reason is, at the end of the phase III, the not only good battery of the function of battery 10
The battery unit 2 that unit 1 and the function of battery 10 weaken independently fully is electrically charged with the height of its capacity q11, q12,
And the proemial battery unit 3,4 of battery 10 is not fully electrically charged.As seen from Figure 1, at the end of the phase III,
First battery unit 1 and fully charged and the 3rd battery unit 3 of the second battery unit 2 and the 4th battery unit 4 be not complete
It is electrically charged.Therefore as seen from Figure 1, the 3rd battery unit 3 and the 4th battery unit 4 are proemial battery units.Cause
This is by Fig. 1 it is also seen that the first battery unit 1 and the second battery unit 2 do not have self-discharge current respectively or have very little
Self-discharge current.
According to first embodiment, after fourth stage follows the phase III closely.Here, during fourth stage, executing four
Individual battery unit 1,2,3,4 follow closely the phase III terminate after charged state l31, l32, between l33, l34 at least one
Individual charged state equilibrium.And then, battery 10 is rushed electricity always again, until all four battery unit 1,2,3,4 quilt completely
Charge.At the end of fourth stage, battery 10 is in the 4th state z4, and in the 4th state, four battery units 1,2,3,4 are complete
Entirely it is electrically charged.
According to first embodiment, determine by performed electric discharge during second stage from each battery unit 1,2,
3rd, the first quantity of electric charge q1 taking out in 4.Here, the first quantity of electric charge q1 passes through the discharge current i2 occurring during second stage
Integration in (t) first time period te in being in second stage determining, during this first time period, discharge current i2
T () flows through battery 10.
According to first embodiment, also determine that by performed charging during the phase III to each battery unit 1,
2nd, the second quantity of electric charge q2 of 3,4 conveyings.Here, the second quantity of electric charge q2 passes through charging current i3 occurring during the phase III
Integration in (t) second time period tl in being in the phase III determining, during this second time period, charging current i3
T () flows through battery 10.
According to first embodiment, determine four battery units also according to the size determining during second and phase III
1st, each self-discharge current sii of the battery unit i in 2,3,4.Here, the battery unit i in four battery units 1,2,3,4
Each self-discharge current sii determined according to relation (1):
In relation (1), betwixt discharge current i2 (t) that is in second stage be not passed through time period of battery 10 with
Tp1 is representing.Also, in relation (1), betwixt charging current i3 (t) being in the phase III is not passed through the time of battery 10
Section to be represented with tp2.
According to first embodiment, determine always according to the size determining during second stage with for respective battery unit i
Each capacity q1i to determine the battery unit i in four battery units 1,2,3,4 for the self-discharge current sii.Here, four
The capacity q1i of the battery unit i in battery unit 1,2,3,4 determines according to relation (2):
In relation (1) and (2), it is in four electricity of four states z1, z2, battery 10 in state zj in z3, z4
Each charged state lji that battery unit i in pool unit 1,2,3,4 has to be assessed with the value between 0 and 1.
Below, in state zj in four states z1, z2, z3, z4 and the battery 10 that figure 1 illustrates
In battery unit i in four battery units 1,2,3,4, each quantity of electric charge qji of storage is described separately example value.It can also be envisaged that
Other example values.
For the battery 10 being in first state z1, in the first battery unit 1, the quantity of electric charge q11 of storage is
15ah, in the second battery unit 2, the quantity of electric charge q12 of storage is 10ah, the quantity of electric charge q13 of storage in the 3rd battery unit 3
For 15ah, and the quantity of electric charge q14 of storage is 10ah in the 4th battery unit 4.
For the battery 10 being in the second state z2, in the first battery unit 1, the quantity of electric charge q21 of storage is
7.5ah, in the second battery unit 2, the quantity of electric charge q22 of storage is 2.5ah, the quantity of electric charge of storage in the 3rd battery unit 3
Q23 is 6ah, and the quantity of electric charge q24 of storage is 1ah in the 4th battery unit 4.
For the battery 10 being in third state z3, in the first battery unit 1, the quantity of electric charge q31 of storage is
15ah, in the second battery unit 2, the quantity of electric charge q32 of storage is 10ah, the quantity of electric charge q33 of storage in the 3rd battery unit 3
For 13.5ah, and the quantity of electric charge q34 of storage is 8.5ah in the 4th battery unit 4.
For the battery 10 being in the 4th state z4, in the first battery unit 1, the quantity of electric charge q41 of storage is
15ah, in the second battery unit 2, the quantity of electric charge q42 of storage is 10ah, the quantity of electric charge q43 of storage in the 3rd battery unit 3
For 15ah, and the quantity of electric charge q44 of storage is 10ah in the 4th battery unit 4.
In addition to above-mentioned word disclosure, with regard to this to the further disclosure of the present invention addedly with reference to figure
View in 1.
Claims (10)
1. there is the battery (10) of battery unit (1,2,3,4) of multiple coupled in series or energy coupled in series for monitoring at least
The method of the state of one predetermined battery unit (1,2,3,4) it is characterised in that:
During in the first stage, described battery (10) is placed in first state (z1), in described first state, described battery list
First (1,2,3,4) are respectively provided with predefined charged state,
During following the second stage after the described first stage, the battery (10) being in described first state (z1) is entered
Row electric discharge,
During following the phase III after described second stage, described battery (10) is charged, until described battery
(10) at least one battery unit (1,2) has the time point of described predefined charged state,
After the electric discharge at least being occurred during described second stage terminates and at least occurred in the described phase III
Charging detects to by the voltage that at least one predetermined battery unit (1,2,3,4) described provides after terminating, with
And
Determine described in identifying for the analysis according to the voltage being detected at least one predetermined battery unit (1,2,3,
4) information of state.
2. method according to claim 1 it is characterised in that:
According to the analysis of voltage being detected after the charging occurring during the described phase III is terminated, described in identification at least
Each battery unit to be checked (3,4) of the really predetermined battery unit (1,2,3,4) of one elder generation, described battery list to be checked
Unit follows closely to be had with respect to described predefined charged state more after performed charging during the described phase III terminates
Little charged state.
3. method according to claim 2 it is characterised in that:
According to the analysis to the voltage being detected, described in identification, at least one predetermined battery unit (1,2,3,4) is every
Individual battery unit (2) in addition to be checked, described battery unit in addition to be checked follows closely to be held during described second stage
The electric discharge of row has the charged state less than charged state threshold value after terminating, and described battery unit in addition to be checked is not
It is described battery unit (3,4) to be checked.
4. the method according to any one of the claims it is characterised in that:
Occurred in the discharge process at least being occurred during described second stage and at least during the described phase III
Charging process in detection flow through the electric current of described battery (10), and
According to the analysis to the voltage being detected and the electric current being detected, determine at least one predetermined battery unit described
The capacity of (1,2,3,4) and/or self-discharge current.
5. the method according to any one of the claims it is characterised in that:
At least one charged state between the charged state of battery unit (1,2,3,4) is executed after the phase III terminates
Equilibrium.
6. method according to claim 5 it is characterised in that:
At least one the predetermined battery list with regard to described battery (10) is detected during the equilibrium of at least one charged state
The other information of the behavior of first (1,2,3,4), and
Dividing according to the other information being detected with regard at least one predetermined battery unit (1,2,3,4) described
Analysis, each battery unit to be checked (3,4) of identification at least one predetermined battery unit (1,2,3,4) described and/
Or each battery unit (2) in addition to be checked,
And/or
According to the other information being detected with regard at least one predetermined battery unit (1,2,3,4) described, determine
The capacity of at least one predetermined battery unit (1,2,3,4) described and/or self-discharge current.
7. the method according to any one of claim 4 to 6 it is characterised in that:
When the self-discharge current of the battery unit (1,2,3,4) that each its self-discharge current is determined exceedes current threshold, will
Described battery unit is respectively identified as the battery unit (1,2,3,4) being in critical state, and/or
When the capacity of the battery unit (1,2,3,4) that each its capacity is determined is respectively lower than capacity threshold, by described battery
Unit is respectively identified as the battery unit (1,2,3,4) being in undesirable state.
8. the method according to any one of claim 4 to 7 it is characterised in that:
The battery unit (3,4) that each its self-discharge current is determined be identified as respectively first battery unit to be checked (3,
4) and/or battery (2) unit that is determined of each its capacity is identified as other battery list to be checked first respectively
First (2).
9. it is used for monitoring the equipment of the state of at least one predetermined battery unit (1,2,3,4) of stacks of cells, institute
State stacks of cells to be made up of at least one battery unit (1,2,3,4) of battery (10), described battery (10) has multiple strings
The battery unit (1,2,3,4) of connection connection or energy coupled in series is it is characterised in that described equipment is configured to: identification exists
First stage, during the described first stage, described battery (10) is placed in first state (z1), in described first state, institute
The battery unit (1,2,3,4) stating battery (10) is respectively provided with predefined charged state；Described first rank is followed in identification presence
Second stage after section, puts to the battery (10) being in described first state (z1) during described second stage
Electricity；There is the phase III followed after described second stage in identification, during the described phase III, described battery (10) is entered
Row charges, until at least one battery unit (1,2) of described battery (10) has the time of described predefined charged state
Point；And also method according to any one of claim 1 to 5 determines that at least one with regard to described stacks of cells is pre-
The information of the state of battery unit (1,2,3,4) first determining.
10. equipment according to claim 9 is it is characterised in that described equipment is preferably designed for identification in battery list
At least one charged state between the charged state of first (1,2,3,4) executes in a balanced way, and wherein said equipment is also constructed use
In at least one the predetermined battery unit (1,2,3,4) for described stacks of cells to execute according to claim 6
Method any one of to 8.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP15176640.9A EP3118639B1 (en) | 2015-07-14 | 2015-07-14 | Method and device for monitoring a state of at least one predetermined battery cell of a battery |
| EP15176640.9 | 2015-07-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106374554A true CN106374554A (en) | 2017-02-01 |
| CN106374554B CN106374554B (en) | 2022-01-21 |
Family
ID=53546158
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610781711.6A Active CN106374554B (en) | 2015-07-14 | 2016-07-13 | Method and device for monitoring the state of at least one predetermined cell of a battery |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US10326179B2 (en) |
| EP (1) | EP3118639B1 (en) |
| CN (1) | CN106374554B (en) |
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| CN110007247A (en) * | 2017-12-18 | 2019-07-12 | 三星电子株式会社 | Method and apparatus for estimating the state of battery |
| CN110391473A (en) * | 2018-04-20 | 2019-10-29 | 罗伯特·博世有限公司 | Method for charging an electrical energy storage unit |
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| CN113525117A (en) * | 2021-08-13 | 2021-10-22 | 泉州市贝瓦电子技术有限公司 | System and method for intelligently feeding back battery health state |
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| US10522881B1 (en) * | 2018-01-12 | 2019-12-31 | Cora Aero Llc | Estimation of self discharge rate as a measure of battery health |
| KR20230018643A (en) * | 2021-07-30 | 2023-02-07 | 주식회사 엘지에너지솔루션 | Method for detecting defective battery cell and battery management system providing the same |
| DE102022004020A1 (en) * | 2022-10-27 | 2024-05-02 | Mercedes-Benz Group AG | Method for determining the charge states of battery cells |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20170018821A1 (en) | 2017-01-19 |
| EP3118639A1 (en) | 2017-01-18 |
| EP3118639B1 (en) | 2023-11-15 |
| CN106374554B (en) | 2022-01-21 |
| US10326179B2 (en) | 2019-06-18 |
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